DavisStrait Sep14 *
SG217 *
Dive index
* Mission links
version: 66.12
glider: 217
mission: 3
dive: 310
start: 11 9 114 5 43 25
data:
$ID,217
$MISSION,3
$DIVE,310
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,25
$T_BOOST,2
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52199
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,25
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3880
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,240
$ROLL_MAX,3790
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2709
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0022
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-51.110779
$PRESSURE_SLOPE,0.0001155691
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043902649
$SEABIRD_T_H,0.00063436845
$SEABIRD_T_I,2.5093383e-05
$SEABIRD_T_J,2.9521423e-06
$SEABIRD_C_G,-9.69524
$SEABIRD_C_H,1.1253856
$SEABIRD_C_I,-0.0011212705
$SEABIRD_C_J,0.00015718494
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,091114,053634,6640.057,-5959.879,25,1.1,25,-32.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-71.3
$GPS2,091114,054249,6640.003,-5959.892,4,1.1,4,-32.8
$SPEED_LIMITS,0.109,0.246
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,83.0,144971,-17.5,-9.167,-20.44,2275
$D_GRID,646
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.92,-136.3,159,2450,1306,1226,0.0,0.0,0,83,0.00,0.00,-62.20,0.000,16386,0.000,0.000,154,2451,2822,2826,2819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.92,-136.3,154,2451,2829,2819,3.6,-1.9,6,116,12.62,2.47,-9.73,0.000,18948,0.417,0.090,2791,1066,3267,3296,3238,0,0,0,0,0,0,14.11,14.44,14.70
$GC,313,-0.92,-136.3,2791,1066,3301,3238,49.9,-21.1,48,321,0.00,2.40,0.00,0.000,1030,0.000,0.065,2786,2446,3269,3301,3238,0,0,0,0,0,0,28.83,14.46,28.83
$GC,651,-0.92,-136.3,2786,2447,3301,3238,110.9,-16.9,64,659,0.00,2.40,0.00,0.000,260,0.000,0.092,2792,3787,3272,3300,3244,0,0,0,0,0,0,28.83,14.46,28.83
$GC,780,-0.92,-136.3,2786,3787,3300,3238,132.1,-16.6,88,788,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2446,3269,3301,3238,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1106,-0.92,-136.3,2786,2446,3301,3238,184.6,-15.9,107,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2446,3269,3301,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1408,-0.92,-136.3,2786,2446,3301,3238,232.3,-15.5,122,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2446,3268,3300,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1709,-0.92,-136.3,2786,2445,3300,3238,279.0,-14.9,137,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2450,3269,3301,3237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.92,-136.3,2786,2446,3300,3236,319.8,-13.3,152,2016,0.00,2.42,0.00,0.000,260,0.000,0.095,2786,3787,3268,3300,3237,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2059,-0.92,-136.3,2786,3787,3300,3237,326.7,-13.2,161,2066,0.00,2.25,0.00,0.000,1030,0.000,0.054,2786,2449,3268,3300,3236,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2380,-0.92,-136.3,2786,2449,3300,3236,366.5,-12.2,179,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3300,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2681,-0.92,-136.3,2785,2449,3300,3235,404.1,-12.5,194,2688,0.00,2.42,0.00,0.000,260,0.000,0.093,2786,3791,3268,3300,3236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2726,-0.92,-136.3,2786,3791,3301,3236,409.9,-12.4,202,2733,0.00,2.22,0.00,0.000,1030,0.000,0.053,2786,2449,3268,3301,3235,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3052,-0.92,-136.3,2785,2449,3300,3235,448.7,-11.7,221,3059,0.00,2.42,0.00,0.000,260,0.000,0.093,2785,3796,3268,3301,3235,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3093,-0.92,-136.3,2785,3796,3300,3235,453.8,-12.3,228,3102,0.00,2.22,0.00,0.000,1030,0.000,0.050,2785,2446,3267,3300,3235,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3399,-0.92,-136.3,2785,2448,3301,3235,489.1,-11.4,244,3407,0.00,2.42,0.00,0.000,260,0.000,0.092,2786,3794,3268,3301,3235,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3485,-0.92,-136.3,2786,3795,3300,3235,499.0,-11.9,260,3494,0.00,2.22,0.00,0.000,1030,0.000,0.050,2786,2449,3267,3300,3235,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3812,-0.92,-136.3,2785,2449,3300,3235,535.1,-11.1,279,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2449,3268,3301,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4114,-0.92,-136.3,2786,2449,3301,3236,567.9,-11.0,294,4120,0.00,2.38,0.00,0.000,516,0.000,0.065,2785,1061,3268,3301,3236,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4203,-0.92,-136.3,2786,1061,3301,3235,578.5,-11.8,311,4209,0.00,2.40,0.00,0.000,1030,0.000,0.061,2786,2463,3268,3301,3235,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4524,-0.92,-136.3,2785,2462,3301,3235,612.8,-10.5,329,4530,0.00,2.42,0.00,0.000,516,0.000,0.063,2785,1063,3269,3302,3236,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4612,-0.92,-136.3,2786,1063,3302,3235,622.7,-11.3,345,4619,0.00,2.35,0.00,0.000,1030,0.000,0.059,2785,2451,3269,3302,3236,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,4857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4857,begin apogee
$GC,4862,-0.18,0.0,2785,2391,3302,3235,648.0,-9.9,360,4979,0.90,0.00,112.55,1.663,10246,0.245,0.000,3029,2391,2708,2771,2645,0,0,0,0,0,0,14.27,28.83,13.40
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4981,begin climb
$GC,4983,0.92,136.3,3029,2391,2767,2643,651.8,0.0,366,5108,1.20,2.65,113.35,1.626,10756,0.185,0.069,3383,980,2149,2219,2079,0,0,0,0,0,0,14.01,13.66,13.02
$GC,5148,0.92,136.3,3383,979,2214,2080,638.7,11.1,391,5155,0.00,2.53,0.00,0.000,1030,0.000,0.056,3383,2380,2146,2214,2079,0,0,0,0,0,0,28.83,13.81,28.83
$GC,5473,0.92,136.3,3384,2380,2210,2079,604.8,10.7,410,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2380,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5776,0.92,136.3,3384,2380,2210,2079,572.5,10.4,425,5783,0.00,2.45,0.00,0.000,516,0.000,0.067,3394,973,2144,2210,2079,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5932,0.92,136.3,3394,973,2210,2079,555.3,11.1,454,5939,0.00,2.40,0.00,0.000,1030,0.000,0.057,3394,2380,2145,2211,2079,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6252,0.92,136.3,3394,2380,2209,2079,520.4,10.8,472,6260,0.00,2.42,0.00,0.000,516,0.000,0.066,3404,973,2144,2210,2079,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6360,0.92,136.3,3404,972,2210,2079,508.6,11.5,492,6368,0.00,2.38,0.00,0.000,1030,0.000,0.056,3404,2377,2144,2210,2079,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6686,0.92,136.3,3404,2377,2209,2079,474.0,10.0,511,6693,0.00,2.40,0.00,0.000,516,0.000,0.063,3415,975,2144,2209,2079,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6756,0.92,136.3,3415,975,2209,2079,466.9,10.6,524,6764,0.00,2.38,0.00,0.000,1030,0.000,0.057,3415,2378,2144,2210,2079,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7077,0.92,136.3,3412,2378,2209,2079,433.8,10.5,542,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2378,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7380,0.92,136.3,3415,2377,2209,2079,403.1,10.4,557,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2378,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7679,0.92,136.3,3415,2377,2210,2079,374.2,9.4,572,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2377,2144,2209,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7979,0.92,136.3,3415,2377,2210,2079,344.4,10.1,587,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2376,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8280,0.92,136.3,3416,2377,2209,2079,313.8,10.4,602,8287,0.00,2.47,0.00,0.000,260,0.000,0.088,3415,3781,2144,2210,2079,0,0,0,0,0,0,28.83,14.55,28.83
$GC,8314,0.92,136.3,3415,3781,2210,2079,309.5,11.8,608,8323,0.12,2.35,0.00,0.000,5126,0.269,0.050,3397,2358,2144,2210,2079,0,0,0,0,0,0,14.38,14.66,28.83
$GC,8633,0.92,136.3,3397,2358,2210,2079,278.2,9.9,625,8640,0.00,2.33,0.00,0.000,516,0.000,0.066,3407,992,2144,2210,2079,0,0,0,0,0,0,28.83,14.57,28.83
$EKF,range,-7512.1
$GC,8680,0.92,136.3,3408,992,2210,2079,273.5,10.2,633,8687,0.00,2.33,0.00,0.000,1030,0.000,0.054,3408,2376,2144,2210,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9005,0.93,137.8,3408,2376,2211,2079,242.6,9.1,652,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2376,2144,2210,2079,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9307,0.97,156.4,3408,2376,2210,2079,217.0,8.3,667,9326,0.00,0.00,16.40,1.089,8198,0.000,0.000,3408,2376,2070,2135,2005,0,0,0,0,0,0,28.83,28.83,14.05
$EKF,range,-10740.0
$GC,9625,1.01,177.0,3407,2376,2131,2004,189.8,8.2,683,9646,0.00,0.00,18.12,1.072,8198,0.000,0.000,3407,2376,1984,2048,1920,0,0,0,0,0,0,28.83,28.83,14.00
$GC,9945,1.07,203.8,3407,2376,2045,1918,163.5,8.0,699,9978,0.00,2.45,22.58,1.049,8708,0.000,0.068,3418,994,1875,1940,1810,0,0,0,0,0,0,28.83,14.55,13.97
$GC,10000,1.10,217.5,3418,995,1939,1810,158.7,8.5,708,10021,0.00,2.35,12.88,1.005,9222,0.000,0.057,3418,2374,1819,1885,1754,0,0,0,0,0,0,28.83,14.53,13.93
$GC,10316,1.10,217.5,3418,2374,1881,1750,127.4,10.2,726,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2374,1815,1881,1750,0,0,0,0,0,0,28.83,28.83,28.83
$EKF,range,-3976.9
$GC,10638,1.10,217.5,3418,2375,1880,1749,97.3,9.7,738,10644,0.00,2.38,0.00,0.000,516,0.000,0.068,3428,991,1815,1880,1750,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10682,1.10,217.5,3427,995,1879,1749,92.8,10.2,746,10689,0.00,2.35,0.00,0.000,1030,0.000,0.057,3427,2379,1814,1879,1749,0,0,0,0,0,0,28.83,14.57,28.83
$GC,11009,1.10,217.5,3428,2379,1878,1749,61.1,9.9,760,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2379,1813,1878,1749,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11308,1.18,253.8,3427,2379,1877,1748,35.5,7.5,770,11347,0.10,2.45,32.92,0.926,10756,0.186,0.067,3473,994,1672,1741,1603,0,0,0,0,0,0,14.59,14.56,14.05
$EKF,11525,4000.959473,-3596.558350,16.438025,0.067666,0.089811,-0.118656,0.000180,0.001145,0.000095,0.000525,0.000525,0.000034
$GC,11522,1.35,327.8,3474,993,1735,1601,16.4,5.8,810,11572,0.08,2.35,38.62,0.135,11270,0.142,0.060,3530,2383,1372,1447,1297,0,0,0,0,0,0,14.47,14.50,14.41
$STATE,11618,end climb,SURFACE_DEPTH_REACHED
$STATE,11618,begin surface coast
$FINISH,1.8,1.025798
$STATE,11629,end surface coast,CONTROL_FINISHED_OK
$STATE,11629,begin surface
$SM_CCo,11649,9.55,0.095,0,0,1282,350.04
$SM_GC,2.76,9.85,0.10,9.55,0.090,0.155,0.095,210,2464,1282,-8.97,-0.90,350.04,0,0,0,0,0,0,14.47,14.51,14.48
$RAFOS_CLK,-121
$RAFOS,6,1415522959,8.833333,8.821944,63,59,58,56,54,52,200,185,142,128,217,160
$RAFOS,5,1415522463,8.700000,8.684167,65,65,57,55,52,52,199,216,181,114,163,139
$RAFOS,4,1415521999,8.566667,8.555278,67,64,60,59,57,56,595,200,152,180,213,123
$RAFOS,3,1415521507,8.433333,8.418612,64,61,52,52,48,47,201,677,112,174,141,217
$RAFOS,2,1415521027,8.300000,8.285277,66,58,58,56,55,51,550,196,184,222,136,80
$RAFOS,1,1415520547,8.166667,8.151944,71,57,56,53,52,50,210,175,138,222,152,112
$RAFOS,0,1415520080,8.033334,8.022223,83,62,58,57,56,52,549,187,205,215,151,133
$RAFOS_FIX,6638.049316,-5958.787598,091114,080854,3,72,0.39
$IRIDIUM_FIX,6609.62,-5959.11,091114,022330
$TT8_MAMPS,0.03745,0.03745
$HUMID,43.50
$INTERNAL_PRESSURE,8.45502
$TCM_TEMP,12.00
$XPDR_PINGS,0
$SC_FREEKB,3920832
$24V_AH,13.02,75.648
$10V_AH,13.13,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.875,81.250,367.425,9.550,0.000,0.000,0.000,223.425,0.000,0.000,5.863,2518.055,7243.828,552.112,1542.638,211.634,0.000,1454.493,0.000,1230.802,2520.000,0.535,0.000
$DEVICE_MAMPS,416.925,157.590,1663.110,94.860,0.000,0.000,0.000,149.175,420.000,0.000,20.970,24.700,2.310,23.950,42.670,56.150,0.000,15.000,0.000,5.000,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11634.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.188,0.000,0.000,0.000
$MEM,143188
$DATA_FILE_SIZE,30062,823
$CAP_FILE_SIZE,126947,0
$CFSIZE,1024409600,981663744
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,11731.02,0x23769e,7,5
$INTR,1,4869.70,0x2342fa,2,24
$SOUNDSPEED,1453.9
$EKF,11766,4000.973877,-3596.510742,1.831086,0.288432,0.336595,0.036531,0.000180,0.001149,0.000099,0.002025,0.002025,0.000050
$CURRENT,0.385,184.80,1
$GPS,091114,085928,6638.550,-5956.964,33,0.8,33,-32.8